Run Universal Robots Simulator in a docker environment using a 16.04 ubuntu base image. Application is forwarded directly to the host so it is close to native and does not use VNC / Web stuff.

Contains Offline Simulator - e-Series - UR Sim for Linux 5.12.2

https://www.universal-robots.com/download/software-e-series/simulator-linux/offline-simulator-e-series-ur-sim-for-linux-5122/ (behind login wall, download will be done directly via unprotected aws link in Dockerfile)

Disclaimer: this software comes without warranty or support. The install process is pretty messy which is @UR's responsibility to fix. Until then this is at least a version that should work out of the box for most people

Tested on Ubuntu 20.04, Docker 20.10.14, docker-compose 1.25.0

docker-compose build

Atm install.sh is invoked at every startup automatically since some commands cannot be executed in the docker build process. I have a stripped down version in the build process install_copy.sh which does the heavy stuff so startup using the below command should be fast enough for daily use.

xhost local:root
docker-compose up

Special thx to https://github.com/ljden/URSim_Install_Guides for finding a lot of stuff needed to get this thing running.